Module fiducial markers for robot navigation, address markers and the associated robots

ABSTRACT

The present invention discloses a module for robot navigation, an address marker and an associated robot. The module divides a whole workspace area for robot traveling into a plurality of module areas, and each module area is internally provided with a first magnetic piece having a polarity of an N pole or an S pole and a second magnetic piece having a polarity different from the polarity of the first magnetic piece. The first magnetic piece is a first magnetic strip, and the second magnetic piece is a second magnetic strip. The first magnetic strip is arranged in the Y-axis direction, and the second magnetic strip is arranged in the X-axis direction. A third magnetic strip and a fourth magnetic strip are further included.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Utility application Ser. No.15/803,225 filed on Nov. 3, 2017, which claims priority to ChinesePatent Application No. 201710437399.3 filed on Jun. 9, 2017. The entirecontent of which are hereby incorporated by reference.

TECHNICAL FIELD

The present invention relates to module fiducial markers for roboticnavigation, address markers, and the associated robots.

BACKGROUND

Robots can be navigated in a variety of ways during transportation,loading, unloading, and other tasks. For example, the robots can benavigated through a global positioning system (GPS), or can also benavigated through fiducial markers. When the robots are used for parcelsorting, a sorting system has hundreds of robots moving at the sametime. At present, the most common method is to perform navigation bycollecting fiducial marker information. The most common fiducial markerformat is a two-dimensional code. The two-dimensional code includes bothdirection indication and position indication. When the robot moves fromone module area to another module area, the robot reads two-dimensionalcode information, and responds by going straight, going backward,turning and the like according to instructions. Such two-dimensionalcodes have a good error tolerance rate; decoding of the positioninformation can even be performed in the absence of some information.Information at four corners of the two-dimensional code representsdirection information, and the direction information can be used toenable the robot to determine its direction. However, when any piece ofinformation at the four corners of the two-dimensional code fails to beread, the direction cannot be determined. A failure to read theinformation at the four corners will arise when abrasion, blockage byforeign matter, and the like, occur on the two-dimensional code.

SUMMARY

According to the aforementioned shortcomings, the present inventionprovides module fiducial markers for robot navigation, wherein the robotposition within a module is determined by arrangement of magneticmaterial. The magnetic material forms the fiducial markers within amodule.

The technical solutions of the present invention are as follows:

A module for robot navigation, dividing a whole workspace for robottravel into a plurality of module areas, wherein each module areaincludes:

a first magnetic piece having a polarity of North or South; and

a second magnetic piece having a polarity different from the polarity ofthe first magnetic piece.

It should be noted that the position of the two magnetic pieces havingdifferent polarities can be arbitrarily set, and the magnetic pieces mayhave various shapes. The robot can be guided by the two magnetic pieceshaving different polarities as long as the magnetic induction sensors ofthe robot account for the position and shape of the magnetic pieces.

To improve the utilization of the magnetic pieces, the module areashould be maximized to facilitate identification by the robot.Preferably, the first magnetic piece is a first magnetic strip, and thesecond magnetic piece is a second magnetic strip.

It should be noted that the shapes of the magnetic pieces are arbitraryand in this case the magnetic strips are rectangular. When the magneticpieces are set as magnetic strips, the positions of the two magneticstrips can also be arbitrarily set.

Preferably, the first magnetic strip is arranged in the Y-axisdirection; and the second magnetic strip is arranged in the X-axisdirection.

It should be noted that the first magnetic strip and the second magneticstrip are arranged according to the plane coordinates. The placement ofthe plane coordinates will determine the travel direction and theposition of the robot within the module. The robot can travel forward orbackward or turn according to instructions. The first magnetic strip andthe second magnetic strip may or may not intersect. If the magneticstrips intersect, the intersection position is equivalent to the originof the coordinates. Since the magnetic fields overlap at theintersection, the magnetic induction sensors on the robot cannot collectsignals at the intersection, resulting in a waste of magnetic strips andmagnetic induction sensors. Therefore, a non-intersecting structureshould be chosen.

Preferably, the following is further included:

a third magnetic strip arranged in the X-axis direction, where thepolarity of the third magnetic strip is the same as the polarity of thesecond magnetic strip.

It is to be noted that the length of the first magnetic strip can beequal to the length of the second magnetic strip plus the length of thethird magnetic strip. However, it is best to have a symmetricalstructure where the first magnetic strip, the second magnetic strip andthe third magnetic strip are the same length. In this case, the magneticstrip in the X-axis direction is longer than the magnetic strip in theY-axis direction, therefore the alignment accuracy of the robot in theX-axis direction is higher than that in the Y-axis direction. If therobot takes the Y-axis direction as the main travel direction, thissolution is preferred.

Furthermore, the following is further included:

a fourth magnetic strip arranged in the Y-axis direction, where thepolarity of the fourth magnetic strip is the same as the polarity of thesecond magnetic strip and the polarity of the third magnetic strip.

The magnetic strips having different polarities do not intersect, andthe magnetic strips having the same polarity may or may not intersect.

The first magnetic strip, the second magnetic strip, the third magneticstrip and the fourth magnetic strip are in a cross arrangement.

The distances between the cross center and the farthest ends of thefirst magnetic strip, the second magnetic strip, the third magneticstrip and the fourth magnetic strip are the same.

The magnetic strips are directly attached to the module area.

When the magnetic strips are relatively thin, the magnetic strips do notsubstantially affect robot travel. Alternatively, the wheels of therobot can be designed to avoid the magnetic strips.

Each module area may be provided with a magnetic material plate, and themagnetic material plate is directly magnetized to form the North pole orSouth pole magnetic strips.

For convenience in installation and magnetization, the magnetic materialplate may be selected, wherein the size of the magnetic material is suchthat the plate may fill the entire module area or occupy only thecentral area of the module.

Preferably, the plurality of module areas is arranged in a matrix, andthe module areas are square.

The present invention further discloses an address marker to identifythe individual module location within the entire workspace. The moduleincludes the module fiducial markers and further includes an addressmarker. Each module is provided with a unique address marker.

The module fiducial marker can only provide the position and directionwithin the module area. The address markers provide the position of themodule area within the whole workspace area.

The address marker is a bar code, a two-dimensional code, a graphicmark, a color mark, a size mark, or a radio frequency identification(RFID) tag.

The present invention further discloses a robot which identifies markerinformation using magnetic induction sensors and another address markerrecognition device. The robot travels over the fiducial markers, and aplurality of magnetic induction sensors and an address markerrecognition device are installed at the bottom of the robot. Theplurality of magnetic induction sensors can collect signals of themagnetic strips having different polarities, and the address markerrecognition device can collect the address information. The plurality ofmagnetic induction sensors and the address marker recognition device areconnected to a robot controller, such that the robot can travel forwardor backward or turn to a target module area according to instructionsand collected location information.

Preferably, the magnetic induction sensors are the Hall effect sensors.

Provided that the plurality of Hall effect sensors can collect thesignals of two magnetic strips having different polarities, the positionand direction of the robot within the module area can be determined. Theplurality of Hall effect sensors can be arranged in a variety of ways,for example, in a straight line, an angular line, a curve, or a circle.

The address marker recognition device is a camera or an RFID tag reader.The camera is used to collect signals of a bar code, a two-dimensionalcode, a graphic mark, a color mark or a size mark. The RFID card readermay be used to collect RFID signals.

Preferably, the plurality of Hall effect sensors forms a square shape, arectangular shape, a circular shape, an oval shape or an II-shape, andthe address marker recognition device is located at a central position.When the Hall effect sensors form a square shape, the Hall effectsensors can cover a larger area and easily collect signals of themagnetic strips.

It should be noted that the robot is provided with two wheels fortraveling. The two wheels are located on two sides of the robot. Whenthe plurality of Hall effect sensors forms the II shape, the two wheelsare just located on the outer sides of two vertical lines of the IIshape. The structure enables more Hall effect sensors to be installed,covers a larger area and has higher collection accuracy. When theplurality of Hall effect sensors forms a circular shape or an ovalshape, the calculation in a software program is convenient because theshape has greater symmetry.

As the robot travels, output signals of the plurality of Hall effectsensors will change, so that the exact position of the robot can beobtained.

To improve magnetic signal collection sensitivity, a low-remanencehigh-permeability material plate is further included. The Hall effectsensors are installed close to the module area, and the low-remanencehigh-permeability material plate is secured above the Hall effectsensors and is close to the Hall effect sensors.

The robot includes a sorting robot, a transport robot, aloading/unloading robot and other types of travelling robots. The robotis in wireless connection with a server. After receiving instructionsignals, the robot travels forward or backward or turns along apredetermined line to a target module area, performs a task such asunloading cargo into a container, and finally returns to a designatedposition such as a queue, a charge station, a parking area, or a loadingstation.

In the present invention where the technical solution of matching themagnetic strips with the Hall effect sensors is adopted, the coveragearea is larger than that in the technical solution of using only atwo-dimensional code, thus providing greater position reading accuracy.Furthermore, the present invention is not subjected to influence ofblockage by a dust layer or foreign matter.

The module for robot navigation, the address marker and the associatedrobot, according to the present invention, have the beneficial effectsof structural simplicity, low costs, reliable and accurate positioning,and convenient maintenance.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic structural diagram of arranging a first magneticstrip and a second first magnetic strip in a module according to thepresent invention.

FIG. 2 is a schematic structural diagram of adding a third magneticstrip on the basis of FIG. 1.

FIG. 3 is a schematic structural diagram of adding a fourth magneticstrip on the basis of FIG. 2.

FIG. 4 is a schematic structural diagram illustrating that the magneticstrips having different polarities do not intersect and the magneticstrips having the same polarity may intersect in the module according tothe present invention.

FIG. 5 is a schematic structural diagram of a robot traveling over amodule fiducial marker according to the present invention.

FIG. 6 is a schematic structural diagram of magnetic strips, Hall effectsensors and a low-remanence high-permeability material plate accordingto the present invention.

FIG. 7 is a schematic structural diagram of the Hall effect sensorsforming an II shape.

FIG. 8 is a schematic structural diagram of the Hall effect sensorsforming a circular shape.

FIG. 9 is a schematic view of a robot or other vehicle according to oneor more embodiments disclosed herein. The magnetic strips may beinducted or otherwise adhered to the platform.

DESCRIPTION OF EMBODIMENTS

The present invention will be further described with reference to theaccompanying drawings:

As shown in the drawing, Embodiment 1: modules for robot navigationdivide a whole workspace area for robot travel into a plurality ofmodule areas, and each module area is internally provided with:

a first magnetic piece having a polarity of North or South; and

a second magnetic piece having a polarity different from the polarity ofthe first magnetic piece.

The first magnetic piece is a first magnetic strip 1 and the secondmagnetic piece is a second magnetic strip 2.

The first magnetic strip 1 is arranged in the Y-axis direction; and thesecond magnetic strip 2 is arranged in the X-axis direction (as shown inFIG. 1).

Embodiment 2: on the basis of Embodiment 1, the following is furtherincluded:

a third magnetic strip 3 arranged in the X-axis direction, where thepolarity of the third magnetic strip 3 is the same as the polarity ofthe second magnetic strip 2 (as shown in FIG. 2).

Embodiment 3: on the basis of Embodiment 2, the following is furtherincluded:

a fourth magnetic strip 4 arranged in the Y-axis direction, where thepolarity of the fourth magnetic strip 4 is the same as the polarity ofthe second magnetic strip 2 and the polarity of the third magnetic strip3 (as shown in FIG. 3).

The magnetic strips having different polarities do not intersect, andthe magnetic strips having the same polarity may or may not intersect(as shown in FIG. 4).

The first magnetic strip 1, the second magnetic strip 2, the thirdmagnetic strip 3 and the fourth magnetic strip 4 are in a crossformation.

The distances between the cross center and the farthest ends of thefirst magnetic strip 1, the second magnetic strip 2, the third magneticstrip 3 and the fourth magnetic strip 4 are the same.

The magnetic strips are directly attached to the module area, or eachmodule area is provided with a magnetic material plate, and the magneticmaterial plate is directly magnetized to form the North-polarity orSouth-polarity magnetic strips.

The plurality of module areas is arranged in a matrix, and the moduleareas are square.

A module for robot navigation includes the module fiducial markers andfurther includes address markers 5. Each module area is provided with aunique address marker 5 (as shown in FIG. 5).

The address marker 5 is a bar code, a two-dimensional code, a graphicmark, a color mark, a size mark, or an RFID tag.

A robot travels over the markers and a plurality of magnetic inductionsensors and an address marker recognition device are installed at thebottom of the robot. The plurality of magnetic induction sensors cancollect signals of the magnetic strips having different polarities, andthe address marker recognition device can collect the address markers.The plurality of magnetic induction sensors and the address markerrecognition device are connected to a robot controller, and the robotcan travel forward or backward or turn to a target module area accordingto instructions and collected marker information.

The magnetic induction sensors are the Hall effect sensors 6. The Halleffect sensors 6 are usually 0.5-2 cm away from the ground, and cancollect signals of the magnetic strips in a non-contact mode. The Halleffect sensors 6 will have a different voltage output when collectingNorth-polarity or South-polarity magnetic signals.

The address marker recognition device is a camera or an RFID cardreader.

The plurality of Hall effect sensors forms a square shape (as shown inFIG. 5), a rectangular shape, a circular shape (as shown in FIG. 8), anoval shape or a II shape (as shown in FIG. 7), and the address markerrecognition device is located at a central position (as shown in FIG.5).

As can be seen from FIGS. 5, 7 and 8, the robot can also be positionedwithout arranging the fourth magnetic strip 4 and the third magneticstrip 3.

A low-remanence high-permeability material plate 7 is further included.The Hall effect sensors 6 are installed close to the module area, andthe low-remanence high-permeability material plate 7 is secured abovethe Hall effect sensors 6 and is close to the Hall effect sensors 6 (asshown in FIG. 6).

Usually, the low-remanence high-permeability material plate 7 is widerthan the Hall effect sensor 6.

The robot includes a sorting robot, a transportation robot, aloading/unloading robot or other types of traveling robots, includingthat which is shown in FIG. 9. The robot is in wireless connection witha server. After receiving instruction signals, the robot travels forwardor backward or turns along a predetermined line to a target module areato perform a task such as loading or unloading cargo.

1. A module for robot navigation, wherein the module a whole workspacearea for robot traveling divided into a plurality of module areas, andeach module area is internally provided with: a first magnetic piecehaving a polarity of an N pole or an S pole; a second magnetic piecehaving a polarity different from the polarity of the first magneticpiece; and address markers, wherein each module area is provided with aunique address marker.
 2. The module for robot navigation according toclaim 1, wherein the first magnetic piece is a first magnetic strip, andthe second magnetic piece is a second magnetic strip.
 3. The module forrobot navigation according to claim 2, wherein the first magnetic stripis arranged in the Y-axis direction; and the second magnetic strip isarranged in the X-axis direction.
 4. The module for robot navigationaccording to claim 3, further comprising: a third magnetic striparranged in the X-axis direction, wherein the polarity of the thirdmagnetic strip is the same as the polarity of the second magnetic strip.5. The module for robot navigation according to claim 4, wherein thefollowing is further included: a fourth magnetic strip arranged in theY-axis direction, wherein the polarity of the fourth magnetic strip isthe same as the polarity of the second magnetic strip and the polarityof the third magnetic strip.
 6. The module for robot navigationaccording to claim 5, wherein the magnetic strips having differentpolarities do not intersect, and the magnetic strips having the samepolarity may or may not intersect.
 7. The module for robot navigationaccording to claim 6, wherein the first magnetic strip, the secondmagnetic strip, the third magnetic strip and the fourth magnetic stripare in cross arrangement.
 8. The module for robot navigation accordingto claim 7, wherein the distances between the cross center and thefarthest ends of the first magnetic strip, the second magnetic strip,the third magnetic strip and the fourth magnetic strip are the same. 9.The module for robot navigation according to claim 2, wherein themagnetic strips are directly attached to the module area.
 10. The modulefor robot navigation according to claim 2, wherein each module area isprovided with a magnetic material plate, and the magnetic material plateis directly magnetized to form the N-pole or S-pole magnetic strips. 11.The module for robot navigation according to claim 2, wherein theplurality of module areas is arranged in a matrix, and the module areasare square.
 12. (canceled)
 13. The module for robot navigation accordingto claim 12, wherein the address marker is a bar code, a two-dimensionalcode, a graphic mark, a color mark, a size mark, or an RFID tag.
 14. Arobot, configured for interacting with a module for robot navigation,wherein the module comprises a whole workspace area for robot travelingdivided into a plurality of module areas, wherein each module area isprovided with a unique address marker, and each module area isinternally provided with a first magnetic piece having a polarity of anN pole or an S pole and a second magnetic piece having a polaritydifferent from the polarity of the first magnetic piece, the robotcomprising: a plurality of magnetic induction sensors and an addressmarker recognition device installed on the bottom thereof; wherein theplurality of magnetic induction sensors collect signals of magneticpieces having different polarities, and the address marker recognitiondevice collects the address marker information, wherein the plurality ofmagnetic induction sensors and the address marker recognition device areconnected to a robot controller, and the robot travels to a targetmodule area according to instructions and collected marker information.15. The robot according to claim 14, wherein the magnetic inductionsensors are Hall effect sensors.
 16. The robot according to claim 14,wherein the address marker recognition device is a camera or an RFIDcard reader.
 17. The robot according to claim 15, wherein the pluralityof Hall effect sensors forms a square shape, a rectangular shape, acircular shape, an oval shape or a II shape, and the address markerrecognition device is located at a central position.
 18. The robotaccording to claim 17, wherein a low-remanence high-permeabilitymaterial plate is further included; wherein the Hall effect sensors areinstalled proximal to the module area, and the low-remanencehigh-permeability material plate is secured above the Hall effectsensors and is close to the Hall effect sensors.
 19. The robot accordingto claim 14, wherein the robot includes a sorting robot, a transportrobot, a loading/unloading robot or other types of traveling robots, andthe robot is in wireless connection with a server such that afterreceiving instruction signals, the robot travels forward or backward orturns along a predetermined line to a target module area to perform atask such as loading or unloading cargo.
 20. The robot according toclaim 14, wherein the first magnetic piece is a first rectangularmagnetic strip, and the second magnetic piece is a second rectangularmagnetic strip.
 21. The module for robot navigation according to claim1, wherein the first magnetic piece is a first rectangular magneticstrip, and the second magnetic piece is a second rectangular magneticstrip.